firmata 0.0.2
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- data/.gitignore +18 -0
- data/Gemfile +4 -0
- data/LICENSE +22 -0
- data/README.md +52 -0
- data/Rakefile +11 -0
- data/firmata.gemspec +20 -0
- data/lib/firmata/board.rb +340 -0
- data/lib/firmata/version.rb +3 -0
- data/lib/firmata.rb +2 -0
- data/sample.rb +25 -0
- data/test/board_test.rb +198 -0
- data/test/fake_serial_port.rb +53 -0
- metadata +91 -0
data/.gitignore
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data/Gemfile
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data/LICENSE
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Copyright (c) 2012 'Mike Breen'
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MIT License
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Permission is hereby granted, free of charge, to any person obtaining
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a copy of this software and associated documentation files (the
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"Software"), to deal in the Software without restriction, including
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without limitation the rights to use, copy, modify, merge, publish,
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distribute, sublicense, and/or sell copies of the Software, and to
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permit persons to whom the Software is furnished to do so, subject to
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the following conditions:
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The above copyright notice and this permission notice shall be
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included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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data/README.md
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# Firmata
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A Ruby implementation of the [Firmata protocol](http://firmata.org/wiki/V2.2ProtocolDetails).
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This library is inspired by the awesome [firmata](http://jgautier.github.com/firmata/) by [jgautier](https://github.com/jgautier).
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## Installation
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Add this line to your application's Gemfile:
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gem 'firmata'
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And then execute:
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$ bundle
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Or install it yourself as:
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$ gem install firmata
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## Prerequisites
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1. Download the [Arduio IDE](http://www.arduino.cc/en/Main/Software) for your OS
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2. Plug in your Arduino via USB
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3. Open the Arduino IDE, select: File > Examples > Firmata > StandardFirmata
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4. Click the Upload button
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5. Make note of the serial port: Tools > Serial Port
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## Usage
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Here is a simple example using IRB that will turn pin 13 on and off.
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(Replace xxxxx with the USB port from step 5 in Prerequisites)
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1.9.3p194 :001 > require 'firmata'
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1.9.3p194 :002 > board = Firmata::Board.new('/dev/tty.usbmodemxxxxx')
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1.9.3p194 :003 > board.connect
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1.9.3p194 :004 > board.connected?
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=> true
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1.9.3p194 :005 > board.version
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=> "2.3"
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1.9.3p194 :006 > board.firmware_name
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=> "StandardFirmata"
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1.9.3p194 :007 > board.digital_write(13, Firmata::Board::HIGH)
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1.9.3p194 :008 > board.digital_write(13, Firmata::Board::LOW)
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## Contributing
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1. Fork it
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2. Create your feature branch (`git checkout -b my-new-feature`)
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3. Commit your changes (`git commit -am 'Added some feature'`)
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4. Push to the branch (`git push origin my-new-feature`)
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5. Create new Pull Request
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data/Rakefile
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data/firmata.gemspec
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# -*- encoding: utf-8 -*-
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require File.expand_path('../lib/firmata/version', __FILE__)
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Gem::Specification.new do |gem|
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gem.authors = ["'Mike Breen'"]
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gem.email = ["hardbap@gmail.com"]
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gem.description = %q{A lib for working with the Firmata protocol in Ruby.}
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gem.summary = %q{}
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gem.homepage = ""
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gem.files = `git ls-files`.split($\)
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gem.executables = gem.files.grep(%r{^bin/}).map{ |f| File.basename(f) }
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gem.test_files = gem.files.grep(%r{^(test|spec|features)/})
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gem.name = "firmata"
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gem.require_paths = ["lib"]
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gem.version = Firmata::VERSION
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gem.add_runtime_dependency("serialport", ["~> 1.1.0"])
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gem.add_runtime_dependency("event_spitter")
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end
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require 'serialport'
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require 'event_spitter'
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module Firmata
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class Board
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include EventSpitter
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# Internal: Data structure representing a pin on Arduino.
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Pin = Struct.new(:supportedModes, :mode, :value, :analog_channel)
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# Public: Fixnum byte for pin mode input.
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INPUT = 0x00
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# Public: Fixnum byte for pin mode output.
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OUTPUT = 0x01
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# Public: Fixnum byte for pin mode analog.
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ANALOG = 0x02
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# Public: Fixnum byte for pin mode pulse width modulation.
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PWM = 0x03
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# Public: Fixnum byte for pin mode servo.
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SERVO = 0x04
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LOW = 0
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HIGH = 1
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# Internal: Fixnum byte command for protocol version
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REPORT_VERSION = 0xF9
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# Internal: Fixnum byte command for system reset
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SYSTEM_RESET = 0xFF
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# Internal: Fixnum byte command for digital I/O message
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DIGITAL_MESSAGE = 0x90
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# Pubilc: Fixnum byte for range for digital pins for digital 2 byte data format
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DIGITAL_MESSAGE_RANGE = 0x90..0x9F
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# Internal: Fixnum byte command for an analog I/O message
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ANALOG_MESSAGE = 0xE0
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# Internal: Fixnum byte range for analog pins for analog 14-bit data format
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ANALOG_MESSAGE_RANGE = 0xE0..0xEF
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# Internal: Fixnum byte command to report analog pin
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REPORT_ANALOG = 0xC0
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# Internal: Fixnum byte command to report digital port
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REPORT_DIGITAL = 0xD0
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# Internal: Fixnum byte command to set pin mode (I/O)
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PIN_MODE = 0xF4
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# Internal: Fixnum byte command for start of Sysex message
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START_SYSEX = 0xF0
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# Internal: Fixnum byte command for end of Sysex message
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END_SYSEX = 0xF7
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# Internal: Fixnum byte sysex command for capabilities query
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CAPABILITY_QUERY = 0x6B
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# Internal: Fixnum byte sysex command for capabilities response
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CAPABILITY_RESPONSE = 0x6C
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# Internal: Fixnum byte sysex command for pin state query
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PIN_STATE_QUERY = 0x6D
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# Internal: Fixnum byte sysex command for pin state response
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PIN_STATE_RESPONSE = 0x6E
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# Internal: Fixnum byte sysex command for analog mapping query
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ANALOG_MAPPING_QUERY = 0x69
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# Internal: Fixnum byte sysex command for analog mapping response
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ANALOG_MAPPING_RESPONSE = 0x6A
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# Internal: Fixnum byte sysex command for firmware query and response
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FIRMWARE_QUERY = 0x79
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# Public: Returns the SerialPort port the Arduino is attached to.
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attr_reader :serial_port
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# Public: Returns the Array of pins on Arduino.
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attr_reader :pins
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# Public: Returns the Array of analog pins on Arduino.
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attr_reader :analog_pins
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# Public: Returns the String firmware name of Arduion.
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attr_reader :firmware_name
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def initialize(port)
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@serial_port = port.is_a?(String) ? SerialPort.new(port, 57600, 8, 1, SerialPort::NONE) : port
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@serial_port.read_timeout = 2
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@major_version = 0
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@minor_version = 0
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@pins = []
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@analog_pins = []
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@connected = false
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end
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def connected?
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@connected
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end
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def connect
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unless @connected
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self.once('report_version', ->() do
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self.once('firmware_query', ->() do
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self.once('capability_query', ->() do
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self.once('analog_mapping_query', ->() do
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@connected = true
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emit('ready')
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end)
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query_analog_mapping
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end)
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query_capabilities
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end)
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end)
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end
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end
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# Internal: Write data to the underlying serial port.
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#
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# commands - Zero or more byte commands to be written.
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#
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# Examples
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#
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# write(START_SYSEX, CAPABILITY_QUERY, END_SYSEX)
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#
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# Returns nothing.
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def write(*commands)
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serial_port.write(commands.map(&:chr).join)
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end
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# Internal: Read data from the underlying serial port.
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#
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# Returns Enumerator of bytes.
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def read
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serial_port.bytes
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end
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# Internal: Process a series of bytes.
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#
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# bytes: An Enumerator of bytes (default: read())
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#
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# Returns nothing.
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def process(bytes = read)
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bytes.each do |byte|
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case byte
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when REPORT_VERSION
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@major_version = bytes.next
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@minor_version = bytes.next
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emit('report_version')
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when ANALOG_MESSAGE_RANGE
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least_significant_byte = bytes.next
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most_significant_byte = bytes.next
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|
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value = least_significant_byte | (most_significant_byte << 7)
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pin = byte & 0x0F
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|
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if analog_pin = analog_pins[pin]
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pins[analog_pin].value = value
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end
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when START_SYSEX
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current_buffer = [byte]
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begin
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current_buffer.push(bytes.next)
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end until current_buffer.last == END_SYSEX
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|
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command = current_buffer[1]
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|
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case command
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when CAPABILITY_RESPONSE
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supportedModes = 0
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n = 0
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current_buffer.slice(2, current_buffer.length - 3).each do |byte|
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if byte == 127
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modesArray = []
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# the pin modes
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[ INPUT, OUTPUT, ANALOG, PWM, SERVO ].each do |mode|
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modesArray.push(mode) unless (supportedModes & (1 << mode)).zero?
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end
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|
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@pins.push(Pin.new(modesArray, OUTPUT, 0))
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supportedModes = 0
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n = 0
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next
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end
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|
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supportedModes |= (1 << byte) if n.zero?
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n ^= 1
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end
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emit('capability_query')
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when ANALOG_MAPPING_RESPONSE
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pin_index = 0
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current_buffer.slice(2, current_buffer.length - 3).each do |byte|
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@pins[pin_index].analog_channel = byte
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|
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@analog_pins.push(pin_index) unless byte == 127
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|
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pin_index += 1
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end
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|
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emit('analog_mapping_query')
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|
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when PIN_STATE_RESPONSE
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pin = pins[current_buffer[2]]
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pin.mode = current_buffer[3]
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pin.value = current_buffer[4]
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|
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pin.value |= (current_buffer[5] << 7) if current_buffer.size > 6
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|
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pin.value |= (current_buffer[6] << 14) if current_buffer.size > 7
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|
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when FIRMWARE_QUERY
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@firmware_name = current_buffer.slice(4, current_buffer.length - 5).reject { |b| b.zero? }.map(&:chr).join
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emit('firmware_query')
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|
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else
|
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# TODO decide what to do with unknown message
|
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end
|
213
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end
|
214
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end
|
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rescue StopIteration
|
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# do nadda
|
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end
|
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|
219
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# Public: Send a SYSTEM_RESET to the Arduino
|
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#
|
221
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# Returns nothing.
|
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def reset
|
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write(SYSTEM_RESET)
|
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end
|
225
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|
226
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# Public: Set the mode for a pin.
|
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#
|
228
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# pin - The Integer pin to set.
|
229
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# mode - The Fixnum mode (INPUT, OUTPUT, ANALOG, PWM or SERVO)
|
230
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#
|
231
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# Examples
|
232
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#
|
233
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# pin_mode(13, OUTPUT)
|
234
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#
|
235
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# Returns nothing.
|
236
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def pin_mode(pin, mode)
|
237
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pins[pin].mode = mode
|
238
|
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write(PIN_MODE, pin, mode)
|
239
|
+
end
|
240
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+
|
241
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# Public: Write a value to a digital pin.
|
242
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#
|
243
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# pin - The Integer pin to write to.
|
244
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# value - The value to write (HIGH or LOW).
|
245
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#
|
246
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# Returns nothing.
|
247
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def digital_write(pin, value)
|
248
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port = (pin / 8).floor
|
249
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port_value = 0
|
250
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+
|
251
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@pins[pin].value = value
|
252
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+
|
253
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8.times do |i|
|
254
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port_value |= (1 << i) unless @pins[8 * port + i].value.zero?
|
255
|
+
end
|
256
|
+
|
257
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write(DIGITAL_MESSAGE | port, port_value & 0x7F, (port_value >> 7) & 0x7F)
|
258
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+
end
|
259
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+
|
260
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# Public: Ask the Arduino to sleep for a number of seconds.
|
261
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#
|
262
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# seconds - The Integer seconds to sleep for.
|
263
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#
|
264
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# Returns nothing.
|
265
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def delay(seconds)
|
266
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sleep(seconds)
|
267
|
+
end
|
268
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+
|
269
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# Public: The major and minor firmware version on the board. Will report as
|
270
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# "0.0" if report_version command has not been run.
|
271
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#
|
272
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+
# Returns String the firmware version as "minor.major".
|
273
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def version
|
274
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+
[@major_version, @minor_version].join('.')
|
275
|
+
end
|
276
|
+
|
277
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+
# Public: Ask the Arduino to report its version.
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278
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+
#
|
279
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+
# Returns nothing.
|
280
|
+
def report_version
|
281
|
+
write(REPORT_VERSION)
|
282
|
+
end
|
283
|
+
|
284
|
+
# Public: Ask the Ardution for its firmware name.
|
285
|
+
#
|
286
|
+
# Returns nothing.
|
287
|
+
def query_firmware
|
288
|
+
write(FIRMWARE_QUERY)
|
289
|
+
end
|
290
|
+
|
291
|
+
# Public: Ask the Arduino for the current configuration of any pin.
|
292
|
+
#
|
293
|
+
# pin - The Integer pin to query on the board.
|
294
|
+
#
|
295
|
+
# Returns nothing.
|
296
|
+
def query_pin_state(pin)
|
297
|
+
write(START_SYSEX, PIN_STATE_QUERY, pin.to_i, END_SYSEX)
|
298
|
+
end
|
299
|
+
|
300
|
+
# Public: Ask the Arduino about its capabilities and current state.
|
301
|
+
#
|
302
|
+
# Returns nothing.
|
303
|
+
def query_capabilities
|
304
|
+
write(START_SYSEX, CAPABILITY_QUERY, END_SYSEX)
|
305
|
+
end
|
306
|
+
|
307
|
+
# Public: Ask the Arduino which pins (used with pin mode message) correspond to the analog channels.
|
308
|
+
#
|
309
|
+
# Returns nothing.
|
310
|
+
def query_analog_mapping
|
311
|
+
write(START_SYSEX, ANALOG_MAPPING_QUERY, END_SYSEX)
|
312
|
+
end
|
313
|
+
|
314
|
+
# Internal: Toggle the pin analog and digtal reporting off and on.
|
315
|
+
#
|
316
|
+
# state - The Integer to turn the pin on (1) or off (0).
|
317
|
+
#
|
318
|
+
# Returns nothing.
|
319
|
+
def toggle_pin_reporting(state)
|
320
|
+
16.times do |i|
|
321
|
+
write(REPORT_DIGITAL | i, state)
|
322
|
+
write(REPORT_ANALOG | i, state)
|
323
|
+
end
|
324
|
+
end
|
325
|
+
|
326
|
+
# Public: Turn pin analog and digital reporting on.
|
327
|
+
#
|
328
|
+
# Returns nothing.
|
329
|
+
def turn_pin_reporting_on
|
330
|
+
toggle_pin_reporting(1)
|
331
|
+
end
|
332
|
+
|
333
|
+
# Public: Turn pin analog and digital reporting off.
|
334
|
+
#
|
335
|
+
# Returns nothing.
|
336
|
+
def turn_pin_reporting_off
|
337
|
+
toggle_pin_reporting(0)
|
338
|
+
end
|
339
|
+
end
|
340
|
+
end
|
data/lib/firmata.rb
ADDED
data/sample.rb
ADDED
@@ -0,0 +1,25 @@
|
|
1
|
+
require 'bundler/setup'
|
2
|
+
require 'firmata'
|
3
|
+
|
4
|
+
board = Firmata::Board.new('/dev/tty.usbmodemfa131')
|
5
|
+
|
6
|
+
board.on('ready', ->() do
|
7
|
+
|
8
|
+
10.times do
|
9
|
+
board.digital_write 13, Firmata::Board::HIGH
|
10
|
+
board.delay 1
|
11
|
+
|
12
|
+
board.digital_write 13, Firmata::Board::LOW
|
13
|
+
board.delay 1
|
14
|
+
end
|
15
|
+
|
16
|
+
end)
|
17
|
+
|
18
|
+
board.connect
|
19
|
+
|
20
|
+
Thread.new do
|
21
|
+
loop do
|
22
|
+
board.read
|
23
|
+
sleep 1
|
24
|
+
end
|
25
|
+
end
|
data/test/board_test.rb
ADDED
@@ -0,0 +1,198 @@
|
|
1
|
+
require 'minitest/autorun'
|
2
|
+
require 'minitest/pride'
|
3
|
+
|
4
|
+
require_relative '../lib/firmata'
|
5
|
+
require_relative 'fake_serial_port'
|
6
|
+
|
7
|
+
class BoardTest < MiniTest::Unit::TestCase
|
8
|
+
|
9
|
+
def mock_serial_port(*args, &block)
|
10
|
+
mock_port = MiniTest::Mock.new
|
11
|
+
mock_port.expect(:read_timeout=, 2, [2])
|
12
|
+
mock_port.expect(:is_a?, false, [nil])
|
13
|
+
|
14
|
+
if block_given?
|
15
|
+
yield mock_port
|
16
|
+
else
|
17
|
+
expected = args.map(&:chr).join
|
18
|
+
mock_port.expect(:write, 1, [expected])
|
19
|
+
end
|
20
|
+
|
21
|
+
mock_port
|
22
|
+
end
|
23
|
+
|
24
|
+
def test_writing_report_version
|
25
|
+
mock_sp = mock_serial_port(Firmata::Board::REPORT_VERSION)
|
26
|
+
|
27
|
+
board = Firmata::Board.new(mock_sp)
|
28
|
+
board.report_version
|
29
|
+
|
30
|
+
mock_sp.verify
|
31
|
+
end
|
32
|
+
|
33
|
+
def test_processing_report_version
|
34
|
+
board = Firmata::Board.new(FakeSerialPort.new)
|
35
|
+
board.report_version
|
36
|
+
board.process
|
37
|
+
|
38
|
+
assert_equal '2.3', board.version
|
39
|
+
end
|
40
|
+
|
41
|
+
def test_writing_capability_query
|
42
|
+
mock_sp = mock_serial_port(Firmata::Board::START_SYSEX, Firmata::Board::CAPABILITY_QUERY, Firmata::Board::END_SYSEX)
|
43
|
+
|
44
|
+
board = Firmata::Board.new(mock_sp)
|
45
|
+
board.query_capabilities
|
46
|
+
|
47
|
+
mock_sp.verify
|
48
|
+
end
|
49
|
+
|
50
|
+
def test_processing_capabilities_query
|
51
|
+
board = Firmata::Board.new(FakeSerialPort.new)
|
52
|
+
board.query_capabilities
|
53
|
+
board.process
|
54
|
+
|
55
|
+
assert_equal 20, board.pins.size
|
56
|
+
end
|
57
|
+
|
58
|
+
def test_writing_analog_mapping_query
|
59
|
+
mock_sp = mock_serial_port(Firmata::Board::START_SYSEX, Firmata::Board::ANALOG_MAPPING_QUERY, Firmata::Board::END_SYSEX)
|
60
|
+
|
61
|
+
board = Firmata::Board.new(mock_sp)
|
62
|
+
board.query_analog_mapping
|
63
|
+
|
64
|
+
mock_sp.verify
|
65
|
+
end
|
66
|
+
|
67
|
+
def test_processing_analog_mapping_query
|
68
|
+
board = Firmata::Board.new(FakeSerialPort.new)
|
69
|
+
board.query_capabilities
|
70
|
+
board.process
|
71
|
+
|
72
|
+
board.query_analog_mapping
|
73
|
+
board.process
|
74
|
+
|
75
|
+
assert_equal 6, board.analog_pins.size
|
76
|
+
end
|
77
|
+
|
78
|
+
def test_write_pin_mode
|
79
|
+
mock_sp = mock_serial_port(Firmata::Board::PIN_MODE, 13, Firmata::Board::OUTPUT)
|
80
|
+
|
81
|
+
board = Firmata::Board.new(mock_sp)
|
82
|
+
board.pins[13] = Firmata::Board::Pin.new([0, 1, 4], 0, 0, nil)
|
83
|
+
|
84
|
+
board.pin_mode(13, Firmata::Board::OUTPUT)
|
85
|
+
|
86
|
+
assert_equal Firmata::Board::OUTPUT, board.pins[13].mode
|
87
|
+
end
|
88
|
+
|
89
|
+
def test_write_pin_state_query
|
90
|
+
mock_sp = mock_serial_port(Firmata::Board::START_SYSEX, Firmata::Board::PIN_STATE_QUERY, 13, Firmata::Board::END_SYSEX)
|
91
|
+
|
92
|
+
board = Firmata::Board.new(mock_sp)
|
93
|
+
board.query_pin_state(13)
|
94
|
+
|
95
|
+
mock_sp.verify
|
96
|
+
end
|
97
|
+
|
98
|
+
def test_processing_pin_state_query
|
99
|
+
board = Firmata::Board.new(FakeSerialPort.new)
|
100
|
+
board.query_capabilities
|
101
|
+
board.process
|
102
|
+
|
103
|
+
board.pins[13].mode = Firmata::Board::INPUT
|
104
|
+
|
105
|
+
board.query_pin_state(13)
|
106
|
+
board.process
|
107
|
+
|
108
|
+
assert_equal Firmata::Board::OUTPUT, board.pins[13].mode
|
109
|
+
end
|
110
|
+
|
111
|
+
def test_write_turn_pin_reporting_on
|
112
|
+
mock_sp = mock_serial_port do |mock|
|
113
|
+
16.times do |i|
|
114
|
+
mock.expect(:write, 2, [[Firmata::Board::REPORT_DIGITAL | i, 1].map(&:chr).join])
|
115
|
+
mock.expect(:write, 2, [[(Firmata::Board::REPORT_ANALOG | i), 1].map(&:chr).join])
|
116
|
+
end
|
117
|
+
end
|
118
|
+
|
119
|
+
board = Firmata::Board.new(mock_sp)
|
120
|
+
board.turn_pin_reporting_on
|
121
|
+
|
122
|
+
mock_sp.verify
|
123
|
+
end
|
124
|
+
|
125
|
+
def test_turn_pin_reporting_off
|
126
|
+
mock_sp = mock_serial_port do |mock|
|
127
|
+
16.times do |i|
|
128
|
+
mock.expect(:write, 2, [[Firmata::Board::REPORT_DIGITAL | i, 0].map(&:chr).join])
|
129
|
+
mock.expect(:write, 2, [[(Firmata::Board::REPORT_ANALOG | i), 0].map(&:chr).join])
|
130
|
+
end
|
131
|
+
end
|
132
|
+
|
133
|
+
board = Firmata::Board.new(mock_sp)
|
134
|
+
board.turn_pin_reporting_off
|
135
|
+
|
136
|
+
mock_sp.verify
|
137
|
+
end
|
138
|
+
|
139
|
+
def test_processing_analog_message
|
140
|
+
fake_port = FakeSerialPort.new
|
141
|
+
board = Firmata::Board.new(fake_port)
|
142
|
+
|
143
|
+
board.query_capabilities
|
144
|
+
board.process
|
145
|
+
|
146
|
+
board.query_analog_mapping
|
147
|
+
board.process
|
148
|
+
|
149
|
+
fake_port.buffer = "\xE0\e\u0005\xE1N\u0004\xE2A\u0004\xE3C\u0004\xE4o\u0004\xE5f\u0004\xE0w\u0004\xE1]\u0004\xE2N\u0004\xE3I\u0004\xE4x\u0004\xE5m\u0004\xE0m\u0004\xE1`\u0004\xE2T\u0004\xE3L\u0004\xE4s\u0004\xE5l\u0004\xE0i\u0004\xE1`\u0004\xE2V\u0004\xE3N\u0004\xE4m\u0004\xE5j\u0004\xE0f\u0004\xE1^\u0004\xE2U\u0004\xE3O\u0004\xE4h\u0004\xE5g\u0004\xE0d\u0004\xE1\\\u0004\xE2T\u0004\xE3O\u0004\xE4d\u0004\xE5d\u0004\xE0b\u0004\xE1Z\u0004\xE2S\u0004\xE3N\u0004\xE4`\u0004\xE5a\u0004\xE0_\u0004\xE1X\u0004\xE2Q\u0004\xE3L\u0004\xE4\\\u0004\xE5^\u0004\xE0\\\u0004\xE1T\u0004\xE2N\u0004\xE3J\u0004\xE4X\u0004\xE5Z\u0004\xE0X\u0004\xE1Q\u0004\xE2K\u0004\xE3G\u0004\xE4T\u0004\xE5W\u0004\xE0V\u0004\xE1O\u0004\xE2H\u0004\xE3D\u0004\xE4Q\u0004\xE5T\u0004\xE0S\u0004\xE1L\u0004\xE2F\u0004\xE3B\u0004\xE4N\u0004\xE5Q\u0004\xE0P\u0004\xE1J\u0004\xE2C\u0004\xE3@\u0004\xE4K\u0004\xE5N\u0004\xE0N\u0004\xE1G\u0004\xE2A\u0004\xE3>\u0004\xE4I\u0004\xE5L\u0004\xE0L\u0004\xE1D\u0004\xE2?\u0004\xE3<\u0004\xE4F\u0004\xE5I\u0004\xE0I\u0004\xE1B\u0004\xE2=\u0004\xE39\u0004\xE4C\u0004\xE5F\u0004\xE0F\u0004\xE1?\u0004\xE2:\u0004\xE37\u0004\xE4@\u0004\xE5C\u0004\xE0C\u0004\xE1<\u0004\xE28\u0004\xE34\u0004\xE4>\u0004\xE5A\u0004\xE0A\u0004\xE1:\u0004\xE26\u0004\xE32\u0004\xE4<\u0004\xE5?\u0004\xE0?\u0004\xE19\u0004\xE24\u0004\xE31\u0004\xE4:\u0004\xE5=\u0004\xE0>\u0004\xE17\u0004\xE22\u0004\xE3/\u0004\xE49\u0004\xE5;\u0004\xE0<\u0004\xE15\u0004\xE20\u0004\xE3-\u0004\xE46\u0004\xE59\u0004\xE09\u0004\xE12\u0004\xE2.\u0004\xE3+\u0004\xE44\u0004\xE57\u0004\xE07\u0004\xE10\u0004\xE2,\u0004\xE3)\u0004\xE42\u0004\xE55\u0004\xE05\u0004\xE1.\u0004\xE2*\u0004\xE3'\u0004\xE40\u0004\xE52\u0004\xE03\u0004\xE1-\u0004\xE2(\u0004\xE3&\u0004\xE4/\u0004\xE51\u0004\xE02\u0004\xE1+\u0004\xE2&\u0004\xE3$\u0004\xE4-\u0004\xE50\u0004\xE00\u0004\xE1*\u0004\xE2%\u0004\xE3#\u0004\xE4,\u0004\xE5.\u0004\xE0/\u0004\xE1(\u0004\xE2$\u0004\xE3!\u0004\xE4*\u0004\xE5,\u0004\xE0-\u0004\xE1&\u0004\xE2\"\u0004\xE3\u001F\u0004\xE4(\u0004\xE5*\u0004\xE0+\u0004\xE1$\u0004\xE2 \u0004\xE3\u001D\u0004\xE4&\u0004\xE5(\u0004\xE0)\u0004\xE1\"\u0004\xE2\u001F\u0004\xE3\u001C\u0004\xE4%\u0004\xE5'\u0004\xE0(\u0004\xE1!\u0004\xE2\u001D\u0004\xE3\e\u0004\xE4$\u0004\xE5&\u0004\xE0&\u0004\xE1 \u0004\xE2\u001C\u0004\xE3\u001A\u0004\xE4#\u0004\xE5%\u0004\xE0&\u0004\xE1\u001F\u0004\xE2\e\u0004\xE3\u0019\u0004\xE4\"\u0004\xE5$\u0004\xE0$\u0004\xE1\u001E\u0004\xE2\u0019\u0004\xE3\u0018\u0004\xE4 \u0004\xE5\"\u0004\xE0\"\u0004\xE1\u001C\u0004\xE2\u0018\u0004\xE3\u0016\u0004\xE4\u001F\u0004\xE5 \u0004\xE0!\u0004\xE1\u001A\u0004\xE2\u0017\u0004\xE3\u0014\u0004\xE4\u001D\u0004\xE5\u001E\u0004\xE0\u001F\u0004\xE1\u0019\u0004\xE2\u0015\u0004\xE3\u0013\u0004\xE4\u001C\u0004\xE5\u001D\u0004\xE0\u001E\u0004\xE1\u0018\u0004\xE2\u0013\u0004\xE3\u0012\u0004\xE4\e\u0004\xE5\u001C\u0004\xE0\u001D\u0004\xE1\u0017\u0004\xE2\u0014\u0004\xE3\u0012\u0004\xE4\e\u0004\xE5\u001C\u0004\xE0\u001D\u0004\xE1\u0016\u0004\xE2\u0013\u0004\xE3\u0011\u0004\xE4\u001A\u0004\xE5\e\u0004\xE0\u001C\u0004\xE1\u0015\u0004\xE2\u0011\u0004\xE3\u0010\u0004\xE4\u0018\u0004\xE5\u0019\u0004\xE0\u001A\u0004\xE1\u0014\u0004\xE2\u0010\u0004\xE3\u000E\u0004\xE4\u0017\u0004\xE5\u0018\u0004\xE0\u0018\u0004\xE1\u0012\u0004\xE2\u000E\u0004\xE3\r\u0004\xE4\u0015\u0004\xE5\u0016\u0004\xE0\u0017\u0004\xE1\u0011\u0004\xE2\u000E\u0004\xE3\f\u0004\xE4\u0015\u0004\xE5\u0016\u0004\xE0\u0016\u0004\xE1\u0010\u0004\xE2\f\u0004\xE3\v\u0004\xE4\u0014\u0004\xE5\u0015\u0004\xE0\u0016\u0004\xE1\u000F\u0004\xE2\v\u0004\xE3\n\u0004\xE4\u0013\u0004\xE5\u0014\u0004\xE0\u0015\u0004\xE1\u000F\u0004\xE2\v\u0004\xE3\t\u0004\xE4\u0012\u0004\xE5\u0013\u0004\xE0\u0014\u0004\xE1\u000E\u0004\xE2\n\u0004\xE3\t\u0004\xE4\u0012\u0004\xE5\u0012\u0004\xE0\u0013\u0004\xE1\f\u0004\xE2\t\u0004\xE3\a\u0004\xE4\u0010\u0004\xE5\u0011\u0004\xE0\u0011\u0004\xE1\v\u0004\xE2\b\u0004\xE3\u0006\u0004\xE4\u000F\u0004\xE5\u000F\u0004\xE0\u0010\u0004\xE1\n\u0004\xE2\u0006\u0004\xE3\u0005\u0004\xE4\u000E\u0004\xE5\u000F\u0004\xE0\u000F\u0004\xE1\t\u0004\xE2\u0006\u0004\xE3\u0004\u0004\xE4\r\u0004\xE5\u000E\u0004\xE0\u000F\u0004\xE1\t\u0004\xE2\u0006\u0004\xE3\u0004\u0004\xE4\r\u0004\xE5\u000E\u0004\xE0\u000E\u0004\xE1\b\u0004\xE2\u0004\u0004\xE3\u0003\u0004\xE4\f\u0004\xE5\r\u0004\xE0\u000E\u0004\xE1\a\u0004\xE2\u0004\u0004\xE3\u0003\u0004"
|
150
|
+
board.process
|
151
|
+
|
152
|
+
board.analog_pins.each do |pin|
|
153
|
+
refute_nil board.pins[pin].analog_channel, "Analog channel not set for pin #{pin}"
|
154
|
+
end
|
155
|
+
end
|
156
|
+
|
157
|
+
def test_reset
|
158
|
+
mock_sp = mock_serial_port(Firmata::Board::SYSTEM_RESET)
|
159
|
+
|
160
|
+
board = Firmata::Board.new(mock_sp)
|
161
|
+
board.reset
|
162
|
+
|
163
|
+
mock_sp.verify
|
164
|
+
end
|
165
|
+
|
166
|
+
def test_write_firmware_query
|
167
|
+
mock_sp = mock_serial_port(Firmata::Board::FIRMWARE_QUERY)
|
168
|
+
|
169
|
+
board = Firmata::Board.new(mock_sp)
|
170
|
+
board.query_firmware
|
171
|
+
|
172
|
+
mock_sp.verify
|
173
|
+
end
|
174
|
+
|
175
|
+
def test_process_firmware_query
|
176
|
+
fake_port = FakeSerialPort.new
|
177
|
+
fake_port.buffer = "\xF0y\u0002\u0003S\u0000t\u0000a\u0000n\u0000d\u0000a\u0000r\u0000d\u0000F\u0000i\u0000r\u0000m\u0000a\u0000t\u0000a\u0000\xF7"
|
178
|
+
board = Firmata::Board.new(fake_port)
|
179
|
+
|
180
|
+
board.process
|
181
|
+
|
182
|
+
assert_equal 'StandardFirmata', board.firmware_name, 'Firmware Name is incorrect'
|
183
|
+
end
|
184
|
+
|
185
|
+
def test_digital_write
|
186
|
+
mock_sp = mock_serial_port(145, 127, 1)
|
187
|
+
board = Firmata::Board.new(mock_sp)
|
188
|
+
|
189
|
+
8.times do |x|
|
190
|
+
board.pins[x + 8] = Firmata::Board::Pin.new([], 0, 250 + x, nil)
|
191
|
+
end
|
192
|
+
|
193
|
+
board.digital_write(13, 1)
|
194
|
+
|
195
|
+
mock_sp.verify
|
196
|
+
end
|
197
|
+
|
198
|
+
end
|
@@ -0,0 +1,53 @@
|
|
1
|
+
require 'stringio'
|
2
|
+
|
3
|
+
class FakeSerialPort
|
4
|
+
Board = Firmata::Board
|
5
|
+
|
6
|
+
attr_accessor :buffer
|
7
|
+
attr_accessor :read_timeout
|
8
|
+
|
9
|
+
def initialize
|
10
|
+
@buffer = ""
|
11
|
+
@read_timeout = 0
|
12
|
+
end
|
13
|
+
|
14
|
+
def write(command)
|
15
|
+
val = case command.getbyte(0)
|
16
|
+
when Board::SYSTEM_RESET
|
17
|
+
""
|
18
|
+
when Board::REPORT_VERSION
|
19
|
+
"\xF9\u0002\u0003"
|
20
|
+
|
21
|
+
when Board::REPORT_DIGITAL, Board::REPORT_ANALOG
|
22
|
+
"\xE0\e\u0005\xE1N\u0004\xE2A\u0004\xE3C\u0004\xE4o\u0004\xE5f\u0004\xE0w\u0004\xE1]\u0004\xE2N\u0004\xE3I\u0004\xE4x\u0004\xE5m\u0004\xE0m\u0004\xE1`\u0004\xE2T\u0004\xE3L\u0004\xE4s\u0004\xE5l\u0004\xE0i\u0004\xE1`\u0004\xE2V\u0004\xE3N\u0004\xE4m\u0004\xE5j\u0004\xE0f\u0004\xE1^\u0004\xE2U\u0004\xE3O\u0004\xE4h\u0004\xE5g\u0004\xE0d\u0004\xE1\\\u0004\xE2T\u0004\xE3O\u0004\xE4d\u0004\xE5d\u0004\xE0b\u0004\xE1Z\u0004\xE2S\u0004\xE3N\u0004\xE4`\u0004\xE5a\u0004\xE0_\u0004\xE1X\u0004\xE2Q\u0004\xE3L\u0004\xE4\\\u0004\xE5^\u0004\xE0\\\u0004\xE1T\u0004\xE2N\u0004\xE3J\u0004\xE4X\u0004\xE5Z\u0004\xE0X\u0004\xE1Q\u0004\xE2K\u0004\xE3G\u0004\xE4T\u0004\xE5W\u0004\xE0V\u0004\xE1O\u0004\xE2H\u0004\xE3D\u0004\xE4Q\u0004\xE5T\u0004\xE0S\u0004\xE1L\u0004\xE2F\u0004\xE3B\u0004\xE4N\u0004\xE5Q\u0004\xE0P\u0004\xE1J\u0004\xE2C\u0004\xE3@\u0004\xE4K\u0004\xE5N\u0004\xE0N\u0004\xE1G\u0004\xE2A\u0004\xE3>\u0004\xE4I\u0004\xE5L\u0004\xE0L\u0004\xE1D\u0004\xE2?\u0004\xE3<\u0004\xE4F\u0004\xE5I\u0004\xE0I\u0004\xE1B\u0004\xE2=\u0004\xE39\u0004\xE4C\u0004\xE5F\u0004\xE0F\u0004\xE1?\u0004\xE2:\u0004\xE37\u0004\xE4@\u0004\xE5C\u0004\xE0C\u0004\xE1<\u0004\xE28\u0004\xE34\u0004\xE4>\u0004\xE5A\u0004\xE0A\u0004\xE1:\u0004\xE26\u0004\xE32\u0004\xE4<\u0004\xE5?\u0004\xE0?\u0004\xE19\u0004\xE24\u0004\xE31\u0004\xE4:\u0004\xE5=\u0004\xE0>\u0004\xE17\u0004\xE22\u0004\xE3/\u0004\xE49\u0004\xE5;\u0004\xE0<\u0004\xE15\u0004\xE20\u0004\xE3-\u0004\xE46\u0004\xE59\u0004\xE09\u0004\xE12\u0004\xE2.\u0004\xE3+\u0004\xE44\u0004\xE57\u0004\xE07\u0004\xE10\u0004\xE2,\u0004\xE3)\u0004\xE42\u0004\xE55\u0004\xE05\u0004\xE1.\u0004\xE2*\u0004\xE3'\u0004\xE40\u0004\xE52\u0004\xE03\u0004\xE1-\u0004\xE2(\u0004\xE3&\u0004\xE4/\u0004\xE51\u0004\xE02\u0004\xE1+\u0004\xE2&\u0004\xE3$\u0004\xE4-\u0004\xE50\u0004\xE00\u0004\xE1*\u0004\xE2%\u0004\xE3#\u0004\xE4,\u0004\xE5.\u0004\xE0/\u0004\xE1(\u0004\xE2$\u0004\xE3!\u0004\xE4*\u0004\xE5,\u0004\xE0-\u0004\xE1&\u0004\xE2\"\u0004\xE3\u001F\u0004\xE4(\u0004\xE5*\u0004\xE0+\u0004\xE1$\u0004\xE2 \u0004\xE3\u001D\u0004\xE4&\u0004\xE5(\u0004\xE0)\u0004\xE1\"\u0004\xE2\u001F\u0004\xE3\u001C\u0004\xE4%\u0004\xE5'\u0004\xE0(\u0004\xE1!\u0004\xE2\u001D\u0004\xE3\e\u0004\xE4$\u0004\xE5&\u0004\xE0&\u0004\xE1 \u0004\xE2\u001C\u0004\xE3\u001A\u0004\xE4#\u0004\xE5%\u0004\xE0&\u0004\xE1\u001F\u0004\xE2\e\u0004\xE3\u0019\u0004\xE4\"\u0004\xE5$\u0004\xE0$\u0004\xE1\u001E\u0004\xE2\u0019\u0004\xE3\u0018\u0004\xE4 \u0004\xE5\"\u0004\xE0\"\u0004\xE1\u001C\u0004\xE2\u0018\u0004\xE3\u0016\u0004\xE4\u001F\u0004\xE5 \u0004\xE0!\u0004\xE1\u001A\u0004\xE2\u0017\u0004\xE3\u0014\u0004\xE4\u001D\u0004\xE5\u001E\u0004\xE0\u001F\u0004\xE1\u0019\u0004\xE2\u0015\u0004\xE3\u0013\u0004\xE4\u001C\u0004\xE5\u001D\u0004\xE0\u001E\u0004\xE1\u0018\u0004\xE2\u0013\u0004\xE3\u0012\u0004\xE4\e\u0004\xE5\u001C\u0004\xE0\u001D\u0004\xE1\u0017\u0004\xE2\u0014\u0004\xE3\u0012\u0004\xE4\e\u0004\xE5\u001C\u0004\xE0\u001D\u0004\xE1\u0016\u0004\xE2\u0013\u0004\xE3\u0011\u0004\xE4\u001A\u0004\xE5\e\u0004\xE0\u001C\u0004\xE1\u0015\u0004\xE2\u0011\u0004\xE3\u0010\u0004\xE4\u0018\u0004\xE5\u0019\u0004\xE0\u001A\u0004\xE1\u0014\u0004\xE2\u0010\u0004\xE3\u000E\u0004\xE4\u0017\u0004\xE5\u0018\u0004\xE0\u0018\u0004\xE1\u0012\u0004\xE2\u000E\u0004\xE3\r\u0004\xE4\u0015\u0004\xE5\u0016\u0004\xE0\u0017\u0004\xE1\u0011\u0004\xE2\u000E\u0004\xE3\f\u0004\xE4\u0015\u0004\xE5\u0016\u0004\xE0\u0016\u0004\xE1\u0010\u0004\xE2\f\u0004\xE3\v\u0004\xE4\u0014\u0004\xE5\u0015\u0004\xE0\u0016\u0004\xE1\u000F\u0004\xE2\v\u0004\xE3\n\u0004\xE4\u0013\u0004\xE5\u0014\u0004\xE0\u0015\u0004\xE1\u000F\u0004\xE2\v\u0004\xE3\t\u0004\xE4\u0012\u0004\xE5\u0013\u0004\xE0\u0014\u0004\xE1\u000E\u0004\xE2\n\u0004\xE3\t\u0004\xE4\u0012\u0004\xE5\u0012\u0004\xE0\u0013\u0004\xE1\f\u0004\xE2\t\u0004\xE3\a\u0004\xE4\u0010\u0004\xE5\u0011\u0004\xE0\u0011\u0004\xE1\v\u0004\xE2\b\u0004\xE3\u0006\u0004\xE4\u000F\u0004\xE5\u000F\u0004\xE0\u0010\u0004\xE1\n\u0004\xE2\u0006\u0004\xE3\u0005\u0004\xE4\u000E\u0004\xE5\u000F\u0004\xE0\u000F\u0004\xE1\t\u0004\xE2\u0006\u0004\xE3\u0004\u0004\xE4\r\u0004\xE5\u000E\u0004\xE0\u000F\u0004\xE1\t\u0004\xE2\u0006\u0004\xE3\u0004\u0004\xE4\r\u0004\xE5\u000E\u0004\xE0\u000E\u0004\xE1\b\u0004\xE2\u0004\u0004\xE3\u0003\u0004\xE4\f\u0004\xE5\r\u0004\xE0\u000E\u0004\xE1\a\u0004\xE2\u0004\u0004\xE3\u0003\u0004"
|
23
|
+
|
24
|
+
when Board::FIRMWARE_QUERY
|
25
|
+
"\xF0y\u0002\u0003S\u0000t\u0000a\u0000n\u0000d\u0000a\u0000r\u0000d\u0000F\u0000i\u0000r\u0000m\u0000a\u0000t\u0000a\u0000\xF7"
|
26
|
+
|
27
|
+
when Board::START_SYSEX
|
28
|
+
case command.getbyte(1)
|
29
|
+
when Board::ANALOG_MAPPING_QUERY
|
30
|
+
"\xF0j\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u007F\u0000\u0001\u0002\u0003\u0004\u0005\xF7"
|
31
|
+
|
32
|
+
when Board::CAPABILITY_QUERY
|
33
|
+
"\xF0l\u007F\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0003\b\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0004\u000E\u007F\u0000\u0001\u0001\u0001\u0002\n\u007F\u0000\u0001\u0001\u0001\u0002\n\u007F\u0000\u0001\u0001\u0001\u0002\n\u007F\u0000\u0001\u0001\u0001\u0002\n\u007F\u0000\u0001\u0001\u0001\u0002\n\u0006\u0001\u007F\u0000\u0001\u0001\u0001\u0002\n\u0006\u0001\u007F\xF7"
|
34
|
+
|
35
|
+
when Board::PIN_STATE_QUERY
|
36
|
+
"\xF0n\r\u0001\u0000\xF7"
|
37
|
+
end
|
38
|
+
end
|
39
|
+
|
40
|
+
@buffer << val
|
41
|
+
val.length
|
42
|
+
end
|
43
|
+
|
44
|
+
def bytes
|
45
|
+
bytes = StringIO.new(@buffer).bytes
|
46
|
+
@buffer = ""
|
47
|
+
bytes
|
48
|
+
end
|
49
|
+
|
50
|
+
def read
|
51
|
+
@buffer.read
|
52
|
+
end
|
53
|
+
end
|
metadata
ADDED
@@ -0,0 +1,91 @@
|
|
1
|
+
--- !ruby/object:Gem::Specification
|
2
|
+
name: firmata
|
3
|
+
version: !ruby/object:Gem::Version
|
4
|
+
version: 0.0.2
|
5
|
+
prerelease:
|
6
|
+
platform: ruby
|
7
|
+
authors:
|
8
|
+
- ! '''Mike Breen'''
|
9
|
+
autorequire:
|
10
|
+
bindir: bin
|
11
|
+
cert_chain: []
|
12
|
+
date: 2012-08-17 00:00:00.000000000 Z
|
13
|
+
dependencies:
|
14
|
+
- !ruby/object:Gem::Dependency
|
15
|
+
name: serialport
|
16
|
+
requirement: !ruby/object:Gem::Requirement
|
17
|
+
none: false
|
18
|
+
requirements:
|
19
|
+
- - ~>
|
20
|
+
- !ruby/object:Gem::Version
|
21
|
+
version: 1.1.0
|
22
|
+
type: :runtime
|
23
|
+
prerelease: false
|
24
|
+
version_requirements: !ruby/object:Gem::Requirement
|
25
|
+
none: false
|
26
|
+
requirements:
|
27
|
+
- - ~>
|
28
|
+
- !ruby/object:Gem::Version
|
29
|
+
version: 1.1.0
|
30
|
+
- !ruby/object:Gem::Dependency
|
31
|
+
name: event_spitter
|
32
|
+
requirement: !ruby/object:Gem::Requirement
|
33
|
+
none: false
|
34
|
+
requirements:
|
35
|
+
- - ! '>='
|
36
|
+
- !ruby/object:Gem::Version
|
37
|
+
version: '0'
|
38
|
+
type: :runtime
|
39
|
+
prerelease: false
|
40
|
+
version_requirements: !ruby/object:Gem::Requirement
|
41
|
+
none: false
|
42
|
+
requirements:
|
43
|
+
- - ! '>='
|
44
|
+
- !ruby/object:Gem::Version
|
45
|
+
version: '0'
|
46
|
+
description: A lib for working with the Firmata protocol in Ruby.
|
47
|
+
email:
|
48
|
+
- hardbap@gmail.com
|
49
|
+
executables: []
|
50
|
+
extensions: []
|
51
|
+
extra_rdoc_files: []
|
52
|
+
files:
|
53
|
+
- .gitignore
|
54
|
+
- Gemfile
|
55
|
+
- LICENSE
|
56
|
+
- README.md
|
57
|
+
- Rakefile
|
58
|
+
- firmata.gemspec
|
59
|
+
- lib/firmata.rb
|
60
|
+
- lib/firmata/board.rb
|
61
|
+
- lib/firmata/version.rb
|
62
|
+
- sample.rb
|
63
|
+
- test/board_test.rb
|
64
|
+
- test/fake_serial_port.rb
|
65
|
+
homepage: ''
|
66
|
+
licenses: []
|
67
|
+
post_install_message:
|
68
|
+
rdoc_options: []
|
69
|
+
require_paths:
|
70
|
+
- lib
|
71
|
+
required_ruby_version: !ruby/object:Gem::Requirement
|
72
|
+
none: false
|
73
|
+
requirements:
|
74
|
+
- - ! '>='
|
75
|
+
- !ruby/object:Gem::Version
|
76
|
+
version: '0'
|
77
|
+
required_rubygems_version: !ruby/object:Gem::Requirement
|
78
|
+
none: false
|
79
|
+
requirements:
|
80
|
+
- - ! '>='
|
81
|
+
- !ruby/object:Gem::Version
|
82
|
+
version: '0'
|
83
|
+
requirements: []
|
84
|
+
rubyforge_project:
|
85
|
+
rubygems_version: 1.8.24
|
86
|
+
signing_key:
|
87
|
+
specification_version: 3
|
88
|
+
summary: ''
|
89
|
+
test_files:
|
90
|
+
- test/board_test.rb
|
91
|
+
- test/fake_serial_port.rb
|